Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations

ABSTRACT

An aircraft with at least one rotating machine creating troublesome vibrations, the aircraft comprised of an aerostructure, the aircraft including:
         a power source, the power source outputting a plurality of electromagnetic force generator power outputs,   the aerostructure including a plurality of distributed active vibration control system sites,   at least a first distributed active vibration electromagnetic force generator, the first distributed active vibration electromagnetic force generator including a first distributed electronic control system and a first electromagnetically driven mass, the first distributed active vibration electromagnetic force generator fixed to the aerostructure at a first distributed active vibration control system site,   at least a second distributed active vibration electromagnetic force generator, the second distributed active vibration electromagnetic force generator including a second distributed electronic control system and a second electromagnetically driven mass, the second distributed active vibration electromagnetic force generator fixed to the aerostructure at a second distributed active vibration control system site,   a plurality of electrical power distribution lines, the electrical power distribution lines connecting the electromagnetic force generators with the power source with the electromagnetic force generator power outputs outputted to the electromagnetic force generators,   a distributed force generator data communications network, the distributed force generator data communications system network linking together the at least first and second distributed electronic control systems wherein the distributed electronic control systems communicate force generator vibration control data through the distributed force generator data communications network independently of the electrical power distribution lines to minimize the troublesome vibrations.

CROSS REFERENCE

This application claims the benefit of, and incorporates by reference,U.S. Provisional Patent Application No. 60/982,612 filed on Oct. 25,2007.

FIELD OF INVENTION

The present invention relates to a method/system for controllingproblematic vibrations. More particularly the invention relates to amethod and system for controlling aircraft vehicle vibrations,particularly a method and system for canceling problematic rotary winghelicopter vibrations.

BACKGROUND OF THE INVENTION

Helicopter vibrations are particularly troublesome in that they cancause fatigue and wear on the equipment and occupants in the aircraft.In vehicles such as helicopters, vibrations are particularly problematicin that they can damage the actual structure and components that make upthe vehicle in addition to the contents of the vehicle.

There is a need for a system and method of accurately and economicallycanceling vehicle vibrations. There is a need for a system and method ofaccurately and economically controlling vibrations. There is a need foran economically feasible method of controlling vibrations in ahelicopter so that the vibrations are efficiently cancelled andminimized. There is a need for a robust system of controlling vibrationsin a helicopter so that the vibrations are efficiently cancelled andminimized. There is a need for an economic method/system for controllingproblematic helicopter vibrations.

SUMMARY OF THE INVENTION

In an embodiment the invention includes an aircraft with troublesomevibrations. The aircraft includes an aerostructure. The aircraftincludes a power source outputting a plurality of electromagnetic forcegenerator power outputs. The aircraft includes at least a firstdistributed active vibration electromagnetic force generator. The firstdistributed active vibration electromagnetic force generator includes afirst distributed electronic control system. The first distributedactive vibration electromagnetic force generator includes a firstelectromagnetically driven mass. The first distributed active vibrationelectromagnetic force generator is fixed to the aerostructure at a firstdistributed active vibration control system site with the first drivenmass driven relative to said first fixed aerostructure site. Theaircraft includes at least a second distributed active vibrationelectromagnetic force generator. The second distributed active vibrationelectromagnetic force generator includes a second distributed electroniccontrol system. The second distributed active vibration electromagneticforce generator includes a second electromagnetically driven mass. Thesecond distributed active vibration electromagnetic force generator isfixed to the aerostructure at a second distributed active vibrationcontrol system site with the second driven mass driven relative to saidsecond fixed aerostructure site. The aircraft includes a plurality ofelectrical power distribution lines, the electrical power distributionlines connecting the electromagnetic force generators with the powersource with the electromagnetic force generator power outputs outputtedto the electromagnetic force generator. The aircraft includes adistributed force generator data communications network, the distributedforce generator data communications system network linking together theat least first and second distributed electronic control systems whereinthe distributed electronic control systems communicate force generatorvibration control data through the distributed force generator datacommunications network independently of the electrical powerdistribution lines to minimize the troublesome vibrations.

In an embodiment the invention includes a method of making an aircraftwith suppressed inflight troublesome vibrations. The method includesproviding an aircraft comprised of an aerostructure and providing atleast a first distributed active vibration electromagnetic forcegenerator, the first distributed active vibration electromagnetic forcegenerator including a first distributed electronic control system and afirst electromagnetically driven mass. The method includes fixing thefirst distributed active vibration electromagnetic force generator tothe aerostructure at a first distributed active vibration control systemsite. The method includes providing at least a second distributed activevibration electromagnetic force generator, the second distributed activevibration electromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass.The method includes fixing the second distributed active vibrationelectromagnetic force generator to the aerostructure at a seconddistributed active vibration control system site. The method includesconnecting the at least first and second electromagnetic forcegenerators with a plurality of electrical power distribution lines to apower source. The method includes providing a distributed forcegenerator data communications network, the distributed force generatordata communications network linking together the at least first andsecond distributed electronic control systems. The method includescommunicating force generator vibration control data through thedistributed force generator data communications network independently ofthe electrical power distribution lines to minimize the troublesomevibrations.

In an embodiment the invention includes a method of making a vibrationcontrol system for suppressing troublesome vibrations. The methodincludes providing a structure with at least one rotating machinecreating troublesome vibrations. The method includes providing at leasta first distributed active vibration electromagnetic force generator,the first distributed active vibration electromagnetic force generatorincluding a first distributed electronic control system and a firstelectromagnetically driven mass. The method includes fixing the firstdistributed active vibration electromagnetic force generator to thestructure at a first distributed active vibration control system site.The method includes providing at least a second distributed activevibration electromagnetic force generator, the second distributed activevibration electromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass.The method includes fixing the second distributed active vibrationelectromagnetic force generator to the structure at a second distributedactive vibration control system site. The method includes connecting theat least first and second electromagnetic force generators withelectrical power distribution lines to a power source. The methodincludes providing a distributed force generator data communicationsnetwork, the distributed force generator data communications networklinking together the at least first and second distributed electroniccontrol systems. The method includes communicating force generatorvibration control data through the distributed force generator datacommunications network to minimize the troublesome vibrations.

In an embodiment the invention includes a vehicle vibration controlsystem for suppressing troublesome vehicle vibrations in a vehiclestructure. Preferably the vehicle structure is connected with at leastone rotating machine creating troublesome vibrations. The vehiclevibration control system includes at least a first distributed activevibration electromagnetic force generator, the first distributed activevibration electromagnetic force generator including a first distributedelectronic control system and a first electromagnetically driven mass,the first distributed active vibration electromagnetic force generatorfixed to the vehicle structure at a first distributed active vibrationcontrol system site. The vehicle vibration control system includes atleast a second distributed active vibration electromagnetic forcegenerator, the second distributed active vibration electromagnetic forcegenerator including a second distributed electronic control system and asecond electromagnetically driven mass, the second distributed activevibration electromagnetic force generator fixed to the vehicle structureat a second distributed active vibration control system site. Thevehicle vibration control system includes electrical power distributionlines, the electrical power distribution lines connecting theelectromagnetic force generators with a power source and providing theelectromagnetic force generators with electromagnetic force generatorpower outputs. The vehicle vibration control system includes adistributed force generator data communications network, the distributedforce generator data communications network linking together the atleast first and second distributed electronic control systems whereinthe distributed electronic control systems communicate force generatorvibration control data through the distributed force generator datacommunications network independently of the electrical powerdistribution lines to minimize the troublesome vibrations.

In an embodiment the invention includes a method of suppressingtroublesome vibrations. The method comprises providing a structure withvibrations. The method comprises providing at least a first distributedactive vibration electromagnetic force generator, the first distributedactive vibration electromagnetic force generator including a firstdistributed electronic control system and a first electromagneticallydriven mass. The method comprises fixing the first distributed activevibration electromagnetic force generator to the structure. The methodcomprises providing at least a second distributed active vibrationelectromagnetic force generator, the second distributed active vibrationelectromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass.The method comprises fixing the second distributed active vibrationelectromagnetic force generator to the structure. The method comprisesconnecting the at least first and second electromagnetic forcegenerators with electrical power distribution lines to a power source.The method comprises providing a distributed force generator datacommunications network, the distributed force generator datacommunications network linking together the at least first and seconddistributed electronic control systems and a plurality of distributednetworked accelerometers sensing the troublesome vibrations. The methodcomprises communicating force generator vibration control data throughthe distributed force generator data communications network to minimizethe troublesome vibrations.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary of the invention, andare intended to provide an overview or framework for understanding thenature and character of the invention as it is claimed. The accompanyingdrawings are included to provide a further understanding of theinvention, and are incorporated in and constitute a part of thisspecification. The drawings illustrate various embodiments of theinvention, and together with the description serve to explain theprincipals and operation of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations.

FIG. 2 illustrates a distributed active vibration control system withelectromagnetic force generators mounted to an aerostructure vehiclebody structure experiencing and transmitting troublesome vibrations.

FIG. 3 illustrates a rotary wing aircraft with a distributed activevibration control system with electromagnetic force generators forsuppressing vibrations.

FIG. 4 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations.

FIG. 5 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations.

FIG. 6 illustrates a distributed active vibration electromagnetic forcegenerator mounted to a structure with the distributed active vibrationelectromagnetic force generator containing a first distributedelectronic control system and an at least first electromagneticallydriven mass.

FIG. 7A-C illustrates a distributed active vibration electromagneticforce generator containing a first distributed electronic control systemand an at least first electromagnetically driven mass.

FIG. 8 illustrates a distributed electronic control system.

FIG. 9 illustrates a distributed electronic control system with acircular force generator (CFG) outputting clockwise circular forces.

FIG. 10 illustrates a distributed electronic control system with acircular force generator (CFG) outputting counter-clockwise circularforces.

FIG. 11 illustrates distributed electronic control systems adjacent CFGpairs counter-clockwise corotating masses clockwise corotating massescontrolled to generate a biaxial local force.

FIG. 12 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations withcircular force generators paired into biaxial force generators.

FIG. 13 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations withcircular force generators.

FIG. 14 illustrates a distributed active vibration control system with amigrating master system control authority.

FIG. 15 illustrates a distributed active vibration control system with adistributed master system control authority.

FIG. 16 illustrates a distributed active vibration control system withcircular force generators with fixing bases mounted to an aerostructure.

FIG. 17 shows a distributed active vibration control system withcircular force generators with fixing bases mounted to an aerostructure,illustrating the axis of rotation of the electromagnetically drivenmasses.

FIG. 18 illustrates a distributed active vibration control system withelectromagnetic force generators for suppressing vibrations withcontained/integrated/proximal distributed electronic control systemdrive electronics.

FIG. 19A-C illustrates distributed active vibration control systems withelectromagnetic force generators for suppressing vibrations with acommunications bus and electronics modules.

FIG. 20A-B illustrates distributed active vibration control systems withelectromagnetic force generators for suppressing vibrations with acommunications bus and electronics modules.

FIG. 21A-C illustrates distributed active vibration control systems withelectromagnetic force generators for suppressing vibrations.

FIG. 22A-B illustrates linear motor electromagnetically driven sprungmass resonant inertial shakers.

FIG. 23 illustrates a linear motor electromagnetically driven sprungmass resonant force generator and electronic control system.

FIG. 24A-E illustrates a linear motor electromagnetically driven sprungmass resonant force generator and electronic control system.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Additional features and advantages of the invention will be set forth inthe detailed description which follows, and in part will be readilyapparent to those skilled in the art from that description or recognizedby practicing the invention as described herein, including the detaileddescription which follows, the claims, as well as the appended drawings.

Reference will now be made in detail to the present preferredembodiments of the invention, examples of which are illustrated in theaccompanying drawings.

In an embodiment the invention includes an aircraft 20 with at least onerotating machine 22 creating troublesome vibrations. The aircraft 20 iscomprised of an aerostructure 24. In preferred embodiments theaerostructure 24 is the frame or structural body of vehicle experiencingand transmitting the troublesome vibrations, and most preferably is anonextensible structural body of the vehicle, preferably a nonrotatingvehicle structure connected with the rotating machine 22.

The rotary wing aircraft helicopter 20 includes an active vibrationcontrol system power converter source 26 for outputting electromagneticforce generator power outputs. The aerostructure nonrotating frame 24includes a plurality of distributed active vibration control systemnodal sites 28 for mounting of force generators wherein generated forcesare inputted into the aerostructure to suppress the troublesomevibrations.

The aircraft includes at least a first distributed active vibrationelectromagnetic force generator 30, the first distributed activevibration electromagnetic force generator 30 including a firstdistributed electronic control system 32 and a first electromagneticallydriven mass 34, the first distributed active vibration electromagneticforce generator 30 fixed to the frame aerostructure 24 at a firstdistributed active vibration control system nodal site 28.

The aircraft includes at least a second distributed active vibrationelectromagnetic force generator 30, the second distributed activevibration electromagnetic force generator 30 including a seconddistributed electronic control system 32 and a secondelectromagnetically driven mass 34, the second distributed activevibration electromagnetic force generator fixed to the aerostructure 24at a second distributed active vibration control system nodal site 28preferably distal from the first distributed active vibration controlsystem nodal site 28.

Preferably the aircraft includes at least a third distributed activevibration electromagnetic force generator 30, the third distributedactive vibration electromagnetic force generator 30 including a thirddistributed electronic control system 32 and a third electromagneticallydriven mass 34, the third distributed active vibration electromagneticforce generator 30 fixed to the aerostructure 24 at a third distributedactive vibration control system nodal site 28, preferably distal fromthe first and second force generator aerostructure mounting force inputnodal sites 28 where the first and second force generators 30 inputtheir generated forces into the aerostructure 24.

Preferably the aircraft includes at least two force generators 30 fixedat two force generator aerostructure mounting force input nodal sites28, and preferably at least three separated distributed active vibrationcontrol system force generators 30 fixed to the aerostructure at threeseparated force generator aerostructure mounting force input nodal sites28. In preferred embodiments the aircraft includes at least fourseparated distributed active vibration control system force generators30 fixed to the aerostructure at four separated force generatoraerostructure mounting force input nodal sites 28. In preferredembodiments the aircraft includes at least five separated distributedactive vibration control system force generators 30 fixed to theaerostructure at five separated force generator aerostructure mountingforce input nodal sites 28. In preferred embodiments the aircraftincludes at least six separated distributed active vibration controlsystem force generators 30 fixed to the aerostructure at six separatedforce generator aerostructure mounting force input nodal sites 28. Inembodiments the distributed active vibration control system forcegenerators 30 fixed to the aerostructure proximate to each other inpairs, preferably to provide a local area biaxial force generator, mostpreferably with a first counterclockwise circular force generator CFG 30paired proximate to a second clockwise circular force generator CFG 30to provide a local aerostructure biaxial force generator (Biaxial FG).Preferably the aircraft vehicle distributed vibration control system isan expandable aircraft vehicle distributed vibration control system withN nodal sites 28 with N distributed active vibration control systemforce generators 30, with the system expandable by adding an additionalNth force generator 30 fixed at the Nth nodal site 28, preferably withthe system limited by aircraft space/weight limits and electrical poweravailable on the aircraft.

Preferably the distributed active vibration electromagnetic forcegenerators 30 include a first containment chamber 32′ containing thefirst distributed electronic control system 32. Preferably thedistributed active vibration electromagnetic force generators 30 includea containment chamber 34′ containing the at least firstelectromagnetically driven mass 34. In preferred embodiments the secondcontainment chamber 34′ is an adjacent second containment chamber,preferably separated from first containment chamber 32′. In preferredembodiments the second containment chamber 34′ contains firstelectromagnetically driven mass 34 and second corotatingelectromagnetically driven mass 36. Preferably the distributed activevibration electromagnetic force generators 30 include a common fixingbase 38 joining the adjacent first distributed electronic control systemcontainment chamber and the a second electromagnetically driven masscontainment chamber, the fixing base 38 providing for mounting of thedistributed active vibration electromagnetic force generators 30 to theaerostructure 24 and the inputting of the generated force into theaerostructure 24. In a preferred embodiment the fixing base 38 has afixing base plane in alignment with the corotating electromagneticallydriven masses 34 and 36 parallel planes of rotation in the containmentchamber 34′ and with the planar fixing base plane normal to the axis ofrotation of the corotating electromagnetically driven masses 34 and 36of the distributed active vibration electromagnetic force generator 30.The distributed force generators 30 are packaged with the distributedelectronic control systems and the electromagnetically driven massescontained with the mounting fixing base to be fixed to the aerostructureat the nodal sites 28 such as with mechanical fixtures such as bolts,with the moving mass force outputted through the base 38 into theaerostructure 24, with the moving masses contained in second containmentchamber 34′ and distributed electronic control systems contained inseparated and adjacent first containment chambers 32′.

The aircraft includes a plurality of electrical power distribution lines40, the electrical power distribution lines 40 connecting theelectromagnetic force generators 30 with the power source 26 with theelectromagnetic force generator power outputs outputted to theelectromagnetic force generators.

The aircraft includes a distributed expandable force generator datacommunications network 50, the distributed force generator datacommunications network 50 linking together the at least first and seconddistributed electronic control systems 32 wherein the distributedelectronic control systems 32 communicate force generator vibrationcontrol data through the distributed force generator data communicationsnetwork 50 independently of the electrical power distribution lines 40to minimize the troublesome vibrations. Preferably each node has aunique address on the network 50, with the force generating datadistributed through the network 50 with the unique network address,preferably the unique node address# along with the force data, such as amagnitude and phase of a force to be generated by the electromagneticforce generator 30 having the unique data communications node networkaddress (or the unique data communications node network address with areal and imaginary force generation values). In preferred embodimentsthe distributed expandable force generator data communications network50 is a wired data communications network, and preferably is comprisedof a communication bus and with a harness interface connector connectingeach electromagnetic force generator's distributed electronic controlsystem 32 with the network 50, with the distributed electronic controlsystems 32 both sending and receiving force generating system datathrough the network 50. In preferred embodiments the distributedexpandable force generator data communications network 50 is aController Area Network, with the distributed electronic control systems32 including microcontrollers communicating with each other through thenetwork along with the microcontrollers in the system controller.Preferably the distributed electronic control systems 32 alsocommunicate system health data such as whether a force generator 30 ishealthy or not healthy. Preferably the force generator network nodeaddress and its accompanying force generation data (networknode#_magnitude_phase) flows throughout the network 50 and is shared onthe network with all network nodes and all electromagnetic forcegenerators 30.

In an embodiment the aircraft includes a master system controller 52,the master system controller 52 connected to the distributed forcegenerator data communications network 50 wherein the master systemcontroller 52 provides a plurality of authority commands to the at leastfirst and second distributed electronic control systems 32, with the atleast first and second distributed electronic control systems 32executing a plurality of subordinate local force generator operationcommands. Preferably the subordinate local force generator operationcommands depend on the type of force generator. In preferred embodimentsthe force generators 30, are rotating mass force generators, preferablywith the subordinate local force generator operation commands commandingelectromagnetic motor rotations of corotating electromagnetically drivenmasses 34 and 36. In preferred embodiments an electromagnetic forcegenerator's distributed electronic control system 32 receive its networknode address and its accompanying force generation data (networknode#_magnitude_phase) from which its microcontroller computeselectromagnetic motor rotations for the corotating electromagneticallydriven masses 34 and 36 to output a desired circular force intoaerostructure 24 through the fixing base 38, with the force generators30 preferably comprised of circular force generators outputting circularforces into aerostructure 24 at their respective fixing base nodal sites28.

In an embodiment the aircraft includes a migrating master system controlauthority, the migrating master system control authority movable betweenthe at least first and second distributed electronic control systems 32of the plurality of force generators 30, with the migrating mastersystem control authority providing a plurality of authority commands tothe distributed electronic control systems 32 to execute a plurality ofsubordinate local force generator operation commands such as shown inthe FIG. 14 (Migrating Master System Control Authority), preferablywithout a separate distinct physical head master System Controller. Withthe migrating master system control authority at any one point in timepreferably the system has a master control authority taking up temporaryresidence in a distributed electronic control system 32, which includesexecutable software and/or firmware commands that provide a physicallyheadless control system with distributed control of the system with theability of backup command with migration movement of authority.Preferably the system includes distributed networked accelerometers 54,with the distributed networked accelerometers including microcontrollershaving accelerometer network links 56 with the distributed expandableforce generator data communications network 50. The accelerometers inputand output vibration measurement data into the force generator datacommunications network, preferably with the plurality of accelerometersinputting data into the network (and receiving data from the network)with the accelerometers each having a unique network node address #,with the accelerometers including an accelerometer distributed networkelectronic control system for data interfacing with the network. In apreferred embodiment the accelerometer network links 56 are wired links,and preferably the accelerometers are powered through the communicationsbus wired network links 56. In an alternative embodiment theaccelerometers are wireless networked accelerometers providing wirelesstransmission of accelerometer data measurements sent to the network 50for determination on how to minimize troublesome vibrations with theaccelerometers powered by alternative means such as with batteries orwith power supplied from aircraft power supply outlets or power supply26.

In an embodiment the aircraft includes a distributed master systemcontrol authority. The distributed master system control authority isdistributed among the at least first and second distributed electroniccontrol systems 32 utilizing the network 50 with the distributed mastersystem control authority providing a plurality of authority commands tothe individual distributed electronic control systems 32 to execute aplurality of subordinate local force generator operation commands, suchas shown in the FIG. 15 (Distributed Master System Control Authority).Preferably at any one point in time the system has a master controlauthority spread out in at least two distributed electronic controlsystems 32, and includes executable software and/or firmware commandsthat provide a physically headless system with distributed control ofthe system with backup control with the plurality of distributedelectronic control systems 32 on the network 50. Preferably the systemincludes distributed networked accelerometers 54, with the distributednetworked accelerometers including microcontrollers having accelerometernetwork links 56 with the distributed expandable force generator datacommunications network 50. The accelerometers input and output vibrationmeasurement data into the force generator data communications network,preferably with the plurality of accelerometers inputting data into thenetwork (and receiving data from the network) with the accelerometerseach having a unique network node address #, with the accelerometersincluding an accelerometer distributed network electronic control systemfor data interfacing with the network. In a preferred embodiment theaccelerometer network links 56 are wired links, and preferably theaccelerometers are powered through the communications bus wired networklinks 56. In an alternative embodiment the accelerometers are wirelessnetworked accelerometers providing wireless transmission ofaccelerometer data measurements sent to the network 50 for determinationon how to minimize troublesome vibrations with the accelerometerspowered by alternative means such as with batteries or with powersupplied from aircraft power supply outlets or power supply 26.

In an embodiment the aircraft includes at least a first distributednetworked accelerometer 54. The accelerometer outputs can be inputteddirectly into the network 50 or into system controller 52. Preferablythe at least first distributed networked accelerometer 54 has anaccelerometer network link 56 with the distributed expandable forcegenerator data communications network 50. The accelerometers are fixedto the aircraft, preferably fixed to the aerostructure 24, and measurevibrations in the aerostructure. The accelerometers sense and measurethe troublesome vibrations created by the rotating machinery 22 and theforces generated by the force generators 30 that are outputted intoaerostructure 24 and are transmitted through the aerostructure and aremeasurable by the accelerometer. The accelerometer measurements ofvibrations are used as control inputs to drive down and minimize thetroublesome vibrations. The accelerometers input and output vibrationmeasurement data into the force generator data communications network,preferably with the plurality of accelerometers inputting data into thenetwork (and receiving data from the network) with the accelerometerseach having a unique network node address #, with the accelerometersincluding an accelerometer distributed network electronic control systemfor data interfacing with the network. In a preferred embodiment theaccelerometer network links 56 are wired links, and preferably theaccelerometers are powered through the communications bus wired networklinks 56. In an alternative embodiment the accelerometers are wirelessnetworked accelerometers providing wireless transmission ofaccelerometer data measurements sent to the network 50 for determinationon how to minimize troublesome vibrations with the accelerometerspowered by alternative means such as with batteries or with powersupplied from aircraft power supply outlets or power supply 26. Theaccelerometer data measurements are shared through the network 50 andused in the system controllers, processors, and electronic controlsystems in the determination of controlling the electromagnetic drivingof the moving masses to generate the forces to minimize the troublesomevibrations.

In preferred embodiments the first distributed electronic control system32 executes a plurality of local force generator operation rotatingmotor commands to rotate at least its first electromagnetic motor tomove its at least first mass 34, and the second distributed electroniccontrol system 32 executes a plurality of local force generatoroperation rotating motor commands to rotate at least its firstelectromagnetic motor to move its at least first mass 34. Preferably theplurality of distributed active vibration force generators 30 arecircular force generating distributed active vibration force generatorswith the distributed electronic control systems 32 executing a pluralityof local force generator operation rotating motor control commands todrive first motor (Motor_(—)1) to corotate mass 34 and second motor(Motor_(—)2) such as shown in FIG. 8 (Distributed Electronic ControlSystem) to corotate mass 36 to generate a circular force which isoutputted through the base 38 into aerostructure 24 as a rotatingcircular force. As shown in FIG. 10 (Distributed Electronic ControlSystem CFG (Circular Force Generator) Outputting Counter ClockwiseCircular Force) the distributed electronic control systems 32 has anetwork bus interface with the data communications network bus throughwhich force generation data is communicated, with the distributedelectronic control systems 32 executing a plurality of local forcegenerator operation commands. The circular force generator processorcommand generation outputs commands to first motor controls (Motor_(—)1Controls) and second motor controls (Motor_(—)2 Controls). The firstmotor controls control a first motor drive (Motor_(—)1 Drive) tocounterclockwise rotate first mass 34 with first motor (Motor_(—)1). Thesecond motor controls control a second motor drive (Motor_(—)2 Drive) tocounterclockwise rotate second corotating mass 36 with second motor(Motor_(—)2). Motor 1 and Motor 2 are corotated to generate acounterclockwise circular force. As shown in FIG. 9 (DistributedElectronic Control System CFG (Circular Force Generator) OutputtingClockwise Circular Force) the distributed electronic control systems 32has a network bus interface with the data communications network busthrough which force generation data is communicated, with thedistributed electronic control systems 32 executing a plurality of localforce generator operation commands. The circular force generatorprocessor command generation outputs commands to first motor controls(Motor_(—)1 Controls) and second motor controls (Motor_(—)2 Controls).The first motor controls control a first motor drive (Motor_(—)1 Drive)to clockwise rotate first mass 34 with first motor (Motor_(—)1). Thesecond motor controls control a second motor drive (Motor_(—)2 Drive) toclockwise rotate second corotating mass 36 with second motor(Motor_(—)2). Motor 1 and Motor 2 are corotated to generate a clockwisecircular force.

As shown in FIG. 11 (Adjacent CFG Pairs CounterClockwise CorotatingMasses—Clockwise Corotating Masses Controlled to Generate Biaxial LocalForce) the distributed electronic control systems 32 have a network businterfaces with the data communications network 50 through which forcegeneration data is communicated, with the distributed electronic controlsystems 32 executing a plurality of local force generator operationcommands. The upper circular force generator processor commandgeneration outputs commands to first motor controls (Motor_(—)1Controls) and second motor controls (Motor_(—)2 Controls). The firstmotor controls control a first motor drive (Motor_(—)1 Drive) tocounterclockwise rotate first mass 34 with first motor (Motor_(—)1). Thesecond motor controls control a second motor drive (Motor_(—)2 Drive) tocounterclockwise rotate second corotating mass 36 with second motor(Motor_(—)2). Motor 1 and Motor 2 are corotated to generate acounterclockwise circular force. The lower distributed electroniccontrol system executes a plurality of local force generator operationcommands, with the circular force generator processor command generationoutputs commands to first motor controls (Motor_(—)1 Controls) andsecond motor controls (Motor_(—)2 Controls). The first motor controlscontrol a first motor drive (Motor_(—)1 Drive) to clockwise rotate firstmass 34 with first motor (Motor_(—)1). The second motor controls controla second motor drive (Motor_(—)2 Drive) to clockwise rotate secondcorotating mass 36 with second motor (Motor_(—)2). Motor 1 and Motor 2are corotated to generate a clockwise circular force. With these twocontrolled circular force generators 30 fixed proximate to each other onaerostructure 24 the vibration control system through data network 50produces a local area biaxial force, with the pair of adjacent CFGs 30communicating through the network 50 to provide a local biaxial forcegenerator in aerostructure 24.

Preferably the at least first distributed active vibrationelectromagnetic force generator 30 inputs a first circular force intothe aerostructure frame 24 at a first distributed active vibrationcontrol system nodal site 28, and the at least second distributed activevibration electromagnetic force generator 30 inputs a second circularforce into the aerostructure frame 24 at a second distributed activevibration control system nodal site 28.

Preferably the at least first distributed active vibrationelectromagnetic force generator 30 includes a fixing base 38 and a firstcontainment chamber 32′ containing the first distributed electroniccontrol system 32 and a second containment chamber 34′ containing the atleast first electromagnetically driven mass 34 and the at least seconddistributed active vibration electromagnetic force generator 30 includesa fixing base 38 and a first containment chamber 32′ containing thesecond distributed electronic control system 32 and a second containmentchamber 34′ containing the at least second electromagnetically drivenmass 34. Preferably the distributed force generators are packaged withbase 38 to be fixed to the aerostructure 24 with the moving mass forceoutputted through the base 38 into the aerostructure 24, with the atleast one moving mass contained in second containment chamber and thedistributed electronic control system contained in the separated andadjacent first containment chamber.

In an embodiment the invention includes a method of making an aircraftwith suppressed inflight troublesome vibrations. The method includesproviding an aircraft 20 comprised of an aerostructure 24. Preferablythe aerostructure is comprised of the aircraft frame. Preferably theaerostructure is comprised of the structural body of aircraft vehicleexperiencing and transmitting vibrations. The aircraft includes at leastone rotating machine 22 creating troublesome vibrations. Preferably theaerostructure 24 is the nonrotating aircraft vehicle structure connectedwith the rotating machinery 22 creating troublesome vibrations with theaerostructure 24 experiencing the troublesome vibrations. The methodincludes providing at least first distributed active vibrationelectromagnetic force generator 30, the first distributed activevibration electromagnetic force generator 30 including a firstdistributed electronic control system 32 and a first electromagneticallydriven mass 34. The method includes fixing the first distributed activevibration electromagnetic force generator 30 to the aerostructure 24 ata first distributed active vibration control system nodal site 28. Themethod includes providing at least a second distributed active vibrationelectromagnetic force generator 30, the second distributed activevibration electromagnetic force generator 30 including a seconddistributed electronic control system 32 and a secondelectromagnetically driven mass 34. The method includes fixing thesecond distributed active vibration electromagnetic force generator 30to the aerostructure 24 at a second distributed active vibration controlsystem nodal site 28. In a preferred embodiment the second distributedactive vibration control system nodal site 28 is fixed distal from thefirst distributed active vibration control system nodal site. In analternative preferred embodiment the first and second distributed activevibration electromagnetic force generator 30 are an adjacent pair ofcounterclockwise-clockwise circular force generators with proximatenodal sites 28 fixed to aerostructure 24 to provide for a biaxial forcegenerator pairing. The method includes connecting the at least first andsecond electromagnetic force generators 30 with a plurality ofelectrical power distribution lines 40 to a power source 26. Preferablythe power source directly outputs a plurality of electromagnetic forcegenerator power outputs to the force generators 30. The method includesproviding distributed expandable force generator data communicationsnetwork 50, the distributed force generator data communications network50 linking together the at least first and second distributed electroniccontrol systems 32. The method includes communicating force generatorvibration control data through the distributed force generator datacommunications network 50 independently of the electrical powerdistribution lines 40 to minimize the troublesome vibrations, whereinthe force generator vibration control data is transmitted and sharedthrough the communications network 50. The data communications network50 provides for a separate and independent control of theelectromagnetic force generators 30 from the electrical power lines 40powering the force generators 30, with the power lines 40 preferablyonly transmitting power and not control signals. In an embodiment thedistributed electronic control system 32 is contained proximate thefirst electromagnetically driven mass 34. In an embodiment thedistributed electronic control system 32 is contained proximate thefirst electromagnetically driven mass 34 in the same containmentchamber. In an embodiment the distributed electronic control system 32is contained in a distributed electronic control system containmentchamber, and the electromagnetically driven mass 34 is contained in anelectromagnetically driven mass containment chamber. In an embodimentthe distributed electronic control system containment chamber 32′ isproximate and adjacent the electromagnetically driven mass containmentchamber 34′. In an embodiment the distributed electronic control systemcontainment chamber 32′ is segregated from the electromagneticallydriven mass containment chamber 34′. In an embodiment the distributedelectronic control system 32 is contained proximate the firstelectromagnetically driven mass 34 in an adjacent separated containmentchamber. In an embodiment the distributed electronic control system 32is contained in separated containment chamber that is not on a sharedbase with 38 with the driven mass 34. In a preferred embodiment thedistributed electronic control system 32 is proximate to moving mass 34with the moving mass movement generating a cooling air flow patternproximate the distributed electronic control system electronics 32,preferably with the containment chamber containing proximate members 32and 34 including cooling airflow passage conduits. In an embodiment twoelectromagnetic force generators 30 share a joint distributed electroniccontrol system 32 contained in a joint distributed electronic controlsystem containment chamber 32′ proximate both of the electromagneticforce generators 30. As shown in FIG. 19B, in an embodiment twoelectromagnetic force generators 30 share a joint distributed electroniccontrol system 32 contained in a joint distributed electronic controlsystem containment chamber 32′ proximate both of the containmentchambers 34′ of both of the electromagnetic force generators 30,preferably a pair of a clockwise rotating circular force generator CFGand a counter-clockwise rotating circular force generator CFG.

In an embodiment the invention includes a method of making an aircraftvehicle vibration control system for suppressing troublesome vibrations.The method includes providing an aircraft vehicle structure 24. Theaircraft vehicle structure 24 is connected with at least one rotatingmachine 22 creating troublesome vibrations. Preferably the structure 24is comprised of the aircraft vehicle frame. Preferably the structure iscomprised of the structural body of aircraft vehicle experiencing andtransmitting the troublesome vibrations to be suppressed. Preferably thestructure 24 is the nonrotating aircraft vehicle structure connectedwith the rotating machinery 22 creating troublesome vibrations with thestructure 24 experiencing the troublesome vibrations. The methodincludes providing at least first distributed active vibrationelectromagnetic force generator 30, the first distributed activevibration electromagnetic force generator 30 including first distributedelectronic control system 32 and first electromagnetically driven mass34. The method includes fixing the first distributed active vibrationelectromagnetic force generator 30 to the structure frame 24 at a firstdistributed active vibration control system nodal site 28. The methodincludes providing at least second distributed active vibrationelectromagnetic force generator 30, the second distributed activevibration electromagnetic force generator 30 including seconddistributed electronic control system 32 and second electromagneticallydriven mass 34. The method includes fixing the second distributed activevibration electromagnetic force generator 30 to the structure frame 24at second distributed active vibration control system nodal site 28. Themethod includes connecting the at least first and second electromagneticforce generators 30 with electrical power distribution lines 40 to powersource 26. The method includes providing distributed expandable forcegenerator data communications network 50, the distributed forcegenerator data communications network 50 linking together the at leastfirst and second distributed electronic control systems 32, andcommunicating force generator vibration control data through thedistributed force generator data communications network 50 independentlyof the electrical power distribution lines 40 to minimize thetroublesome vibrations, wherein the force generator vibration controldata is transmitted and shared through the communications network.

In an embodiment the invention includes an aircraft vehicle vibrationcontrol system for suppressing troublesome vehicle vibrations in avehicle structure. Preferably the aircraft vehicle vibration controlsystem suppresses the troublesome vehicle vibrations in the nonrotatingvehicle structure 24 connected with the aircraft rotating machinery 22creating the troublesome vibrations. The vehicle vibration controlsystem includes the at least first distributed active vibrationelectromagnetic force generator 30. The first distributed activevibration electromagnetic force generator 30 including the firstdistributed electronic control system 32 and the firstelectromagnetically driven mass 34. The first distributed activevibration electromagnetic force generator 30 is fixed to the vehiclestructure 24.

The vehicle vibration control system includes the at least seconddistributed active vibration electromagnetic force generator 30, thesecond distributed active vibration electromagnetic force generator 30including second distributed electronic control system 32 and secondelectromagnetically driven mass 34, the second distributed activevibration electromagnetic force generator 30 fixed to the vehiclestructure 24.

The vehicle vibration control system includes the plurality ofelectrical power distribution lines 40, the electrical powerdistribution lines 40 connecting the electromagnetic force generators 30with power source 26 and providing the electromagnetic force generators30 with their electromagnetic force generator power outputs. The vehiclevibration control system includes the distributed expandable forcegenerator data communications network 50, the distributed forcegenerator data communications network 50 linking together the at leastfirst and second distributed electronic control systems 32 wherein thedistributed electronic control systems 32 communicate force generatorvibration control data through the distributed force generator datacommunications network 50 independently of the electrical powerdistribution lines 40 to minimize the troublesome vibrations.

In an embodiment the invention includes a method of suppressingtroublesome vibrations. The method includes providing an aircraftvehicle structure 24 with troublesome vibrations. The method includesproviding at least first distributed active vibration electromagneticforce generator 30, the first distributed active vibrationelectromagnetic force generator 30 including a first distributedelectronic control system 32 and a first electromagnetically driven mass34. The method includes fixing the first distributed active vibrationelectromagnetic force generator 30 to the structure 24 at a firstdistributed active vibration control system nodal site. The methodincludes providing at least second distributed active vibrationelectromagnetic force generator 30, the second distributed activevibration electromagnetic force generator 30 including seconddistributed electronic control system 32 and second electromagneticallydriven mass 34. The method includes fixing the second distributed activevibration electromagnetic force generator 30 to the structure 24 at asecond distributed active vibration control system nodal site. Themethod includes connecting the at least first and second electromagneticforce generators 30 with the plurality of electrical power distributionlines 40 to power source 26. The method includes providing distributedexpandable force generator data communications network 50, thedistributed force generator data communications network 50 linkingtogether the at least first and second distributed electronic controlsystems 32 and the plurality of accelerometers sensing the troublesomevibrations. The method includes communicating force generator vibrationcontrol data through the distributed force generator data communicationsnetwork 50 independently of the electrical power distribution lines 40to minimize the troublesome vibrations, wherein the force generatorvibration control data is transmitted and shared through thecommunications network 50.

In embodiments the force generator 30 includes a sprung mass resonantactuator force generator 30 with a having a natural resonant frequency.The force generator 30 includes linear motor electromagnetically drivensprung mass 34 with the mass 34 driven by linear motor commands.Preferably the distributed electronic control system 32 executes aplurality of local force generator operation linear motor commands tothe resonant the actuator to drive the resonant actuator about theresonant frequency when commanded by a received command signal throughthe data communications network 50, and preferably the resonant actuator30 has a feedback output with the feedback output fed back into theresonant actuator electronic control system 32 wherein the resonantactuator electronic control system 32 adjusts the electrical drivecurrent based on the resonant actuator feedback. As shown in FIG. 22-24the resonant actuator 30 is an electromagnetically driven sprung mass 34suspended on resilient metal flexures 132. As shown in FIG. 24A-D, theEM (ElectroMagnetic) driven mass 34 is preferably suspended on ahorizontal beam stack of multiple layers of resilient flexures 132,which are preferably supported by two vertical side resilient flexurespost plates, to provide a sprung mass that can be electromagneticallydriven to oscillate at its natural resonant frequency. Preferably theresonant actuator sprung mass is driven by modulating an electromagneticfield so the sprung mass is attracted and repelled by the EM field atits resonant frequency. Preferably the resonant actuator sprung massincludes a permanent magnet 128 in alignment with an electromagneticcoil 130, wherein a electrical drive current supplied to the EM coil 130drives the sprung mass at resonance. In preferred embodiments aplurality of linear motor electromagnetically driven sprung mass forcegenerators 30 are connected on the data communications network 50, withat least a first force generator having a first force generation maximumand the at least a second force generator having a second forcegeneration maximum, with the second force generation maximum greaterthan the first force generation maximum, with the force generatorshaving different force generation maximums operating on the datacommunications network 50 to minimize vibrations in the aircraft.

The vibration control system preferably receives accelerometer signalsand a tachometer signal (preferably representative of the rotatingmachinery 22). The vibration control system preferably utilizes anadaptive vibration control algorithm such that the force generators 30generate forces that are inputted into the structure 24 that they arefixed to minimize the accelerometer signals.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the invention withoutdeparting from the spirit and scope of the invention. Thus, it isintended that the invention cover the modifications and variations ofthis invention provided they come within the scope of the appendedclaims and their equivalents. It is intended that the scope of differingterms or phrases in the claims may be fulfilled by the same or differentstructure(s) or step(s).

1. An aircraft with at least one rotating machine creating troublesomevibrations, said aircraft comprised of an aerostructure, said aircraftincluding: a power source, said power source outputting a plurality ofelectromagnetic force generator power outputs, said aerostructureincluding a plurality of distributed active vibration control systemsites, at least a first distributed active vibration electromagneticforce generator, said first distributed active vibration electromagneticforce generator including a first distributed electronic control systemand a first electromagnetically driven mass, said first distributedactive vibration electromagnetic force generator fixed to saidaerostructure at a first distributed active vibration control systemsite, at least a second distributed active vibration electromagneticforce generator, said second distributed active vibrationelectromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass,said second distributed active vibration electromagnetic force generatorfixed to said aerostructure at a second distributed active vibrationcontrol system site, a plurality of electrical power distribution lines,said electrical power distribution lines connecting said electromagneticforce generators with said power source with said electromagnetic forcegenerator power outputs outputted to said electromagnetic forcegenerators, a distributed force generator data communications network,said distributed force generator data communications system networklinking together said at least first and second distributed electroniccontrol systems wherein said distributed electronic control systemscommunicate force generator vibration control data through saiddistributed force generator data communications network independently ofsaid electrical power distribution lines to minimize said troublesomevibrations.
 2. An aircraft as claimed in claim 1, including a mastersystem controller, said master system controller connected to saiddistributed force generator data communications network wherein saidmaster system controller provides a plurality of authority commands tosaid at least first and second distributed electronic control systems,with said at least first and second distributed electronic controlsystems executing a plurality of subordinate local force generatoroperation commands.
 3. An aircraft as claimed in claim 1, including amigrating master system control authority, said migrating master systemcontrol authority movable between said at least first and seconddistributed electronic control systems, with the migrating master systemcontrol authority providing a plurality of authority commands to saiddistributed electronic control systems to execute a plurality ofsubordinate local force generator operation commands.
 4. An aircraft asclaimed in claim 1, including a distributed master system controlauthority, said distributed master system control authority distributedamong the at least first and second distributed electronic controlsystems with the distributed master system control authority providing aplurality of authority commands to said distributed electronic controlsystems to execute a plurality of subordinate local force generatoroperation commands.
 5. An aircraft as claimed in claim 1, including atleast a first distributed networked accelerometer, said at least firstdistributed networked accelerometer having an accelerometer network linkwith said distributed force generator data communications network.
 6. Anaircraft as claimed in claim 1, wherein said first distributedelectronic control system executes a plurality of local force generatoroperation rotating motor commands, and said second distributedelectronic control system executes a plurality of local force generatoroperation rotating motor commands.
 7. An aircraft as claimed in claim 1,wherein said at least first distributed active vibration electromagneticforce generator inputs a first circular force into said aerostructure atsaid first distributed active vibration control system site, and said atleast second distributed active vibration electromagnetic forcegenerator inputs a second circular force into said aerostructure at saidsecond distributed active vibration control system site.
 8. An aircraftas claimed in claim 1, wherein said first distributed electronic controlsystem executes a plurality of local force generator operation linearmotor commands, and said second distributed electronic control systemexecutes a plurality of local force generator operation linear motorcommands.
 9. A method of making an aircraft with suppressed inflighttroublesome vibrations, said method comprising: providing an aircraftcomprised of an aerostructure and at least one rotating machine creatingtroublesome vibrations, providing at least a first distributed activevibration electromagnetic force generator, said first distributed activevibration electromagnetic force generator including a first distributedelectronic control system and a first electromagnetically driven mass,fixing said first distributed active vibration electromagnetic forcegenerator to said aerostructure at a first distributed active vibrationcontrol system site, providing at least a second distributed activevibration electromagnetic force generator, said second distributedactive vibration electromagnetic force generator including a seconddistributed electronic control system and a second electromagneticallydriven mass, fixing said second distributed active vibrationelectromagnetic force generator to said aerostructure at a seconddistributed active vibration control system site, connecting said atleast first and second electromagnetic force generators with a pluralityof electrical power distribution lines to a power source, providing adistributed force generator data communications network, saiddistributed force generator data communications network linking togethersaid at least first and second distributed electronic control systems,communicating force generator vibration control data through saiddistributed force generator data communications network independently ofsaid electrical power distribution lines to minimize said troublesomevibrations.
 10. A method as claimed in claim 9, wherein said firstdistributed electronic control system is contained proximate said firstelectromagnetically driven mass.
 11. A method of making a vibrationcontrol system for suppressing troublesome vibrations, said methodcomprising: providing a structure including at least one rotatingmachine creating troublesome vibrations, providing at least a firstdistributed active vibration electromagnetic force generator, said firstdistributed active vibration electromagnetic force generator including afirst distributed electronic control system and a firstelectromagnetically driven mass, fixing said first distributed activevibration electromagnetic force generator to said structure at a firstdistributed active vibration control system site, providing at least asecond distributed active vibration electromagnetic force generator,said second distributed active vibration electromagnetic force generatorincluding a second distributed electronic control system and a secondelectromagnetically driven mass, fixing said second distributed activevibration electromagnetic force generator to said structure at a seconddistributed active vibration control system site, connecting said atleast first and second electromagnetic force generators with a pluralityof electrical power distribution lines to a power source, providing adistributed force generator data communications network, saiddistributed force generator data communications network linking togethersaid at least first and second distributed electronic control systems,communicating force generator vibration control data through saiddistributed force generator data communications network independently ofsaid electrical power distribution lines to minimize said troublesomevibrations.
 12. A vehicle vibration control system for suppressingtroublesome vehicle vibrations in a vehicle structure connected with atleast one rotating machine creating troublesome vibrations, said vehiclevibration control system including: at least a first distributed activevibration electromagnetic force generator, said first distributed activevibration electromagnetic force generator including a first distributedelectronic control system and a first electromagnetically driven mass,said first distributed active vibration electromagnetic force generatorfixed to said vehicle structure at a first distributed active vibrationcontrol system site, at least a second distributed active vibrationelectromagnetic force generator, said second distributed activevibration electromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass,said second distributed active vibration electromagnetic force generatorfixed to said vehicle structure at a second distributed active vibrationcontrol system site, a plurality of electrical power distribution lines,said electrical power distribution lines connecting said electromagneticforce generators with a power source and providing said electromagneticforce generators with a plurality of electromagnetic force generatorpower outputs, a distributed force generator data communicationsnetwork, said distributed force generator data communications networklinking together said at least first and second distributed electroniccontrol systems wherein said distributed electronic control systemscommunicate force generator vibration control data through saiddistributed force generator data communications network independently ofsaid electrical power distribution lines to minimize said troublesomevibrations.
 13. A method of suppressing troublesome vibrations, saidmethod comprising: providing a structure with troublesome vibrations,providing at least a first distributed active vibration electromagneticforce generator, said first distributed active vibration electromagneticforce generator including a first distributed electronic control systemand a first electromagnetically driven mass, fixing said firstdistributed active vibration electromagnetic force generator to saidstructure at a first distributed active vibration control system site,providing at least a second distributed active vibration electromagneticforce generator, said second distributed active vibrationelectromagnetic force generator including a second distributedelectronic control system and a second electromagnetically driven mass,fixing said second distributed active vibration electromagnetic forcegenerator to said structure at a second distributed active vibrationcontrol system site, connecting said at least first and secondelectromagnetic force generators with a plurality of electrical powerdistribution lines to a power source, providing a distributed forcegenerator data communications network, said distributed force generatordata communications network linking together said at least first andsecond distributed electronic control systems and a plurality ofdistributed networked accelerometers sensing said troublesomevibrations, communicating force generator vibration control data throughsaid distributed force generator data communications networkindependently of said electrical power distribution lines to minimizesaid troublesome vibrations.